WO2019112109A1 - 정적 마커 그리드 기반 실시간 실내 위치 측위 방법 및 그 시스템 - Google Patents

정적 마커 그리드 기반 실시간 실내 위치 측위 방법 및 그 시스템 Download PDF

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WO2019112109A1
WO2019112109A1 PCT/KR2017/014934 KR2017014934W WO2019112109A1 WO 2019112109 A1 WO2019112109 A1 WO 2019112109A1 KR 2017014934 W KR2017014934 W KR 2017014934W WO 2019112109 A1 WO2019112109 A1 WO 2019112109A1
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Prior art keywords
real
time
moving object
static
static markers
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PCT/KR2017/014934
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English (en)
French (fr)
Korean (ko)
Inventor
정광철
김화성
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주식회사 스튜디오매크로그래프
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Publication of WO2019112109A1 publication Critical patent/WO2019112109A1/ko

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/04—Interpretation of pictures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
    • G01S1/02—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using radio waves
    • G01S1/68—Marker, boundary, call-sign, or like beacons transmitting signals not carrying directional information
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30204—Marker

Definitions

  • the present invention relates to a static marker grid-based real-time indoor positioning technique, and more particularly to a static marker grid provided in a theme space and a camera provided in a moving object moving in the room, for example, And more particularly, to a real-time indoor positioning method and system capable of performing positioning in real time.
  • Location-based technology is a technique that acquires physical, geographical, or logical location information of an object (person or object) placed in a specific location and reacts accordingly.
  • Typical positioning methods include triangulation, which measures the position of a subject by measuring the distance between objects, angle or azimuth, scene analysis using scenery viewed from a specific point of view (Vantage Point) (Proximity).
  • radio wave identification system With the development of wireless communication technology, radio wave identification system is attracting attention as a new wireless network technology and widely used. In addition, it is required to develop a technique for measuring a position in the indoor or outdoor environment using a radio wave identification system. Such a technique is a technique for collecting or collecting data using radio wave identification And the like.
  • Typical position measurement techniques include a position measurement technique using a global positioning system, a position measurement technique using a received signal strength of a radio signal, and a position measurement technique using a near field wireless communication.
  • GPS positioning technology is a technique to measure the phase of a carrier signal transmitted from a GPS satellite floating in the Earth's orbit or to measure the distance to a satellite by tracking the code of a carrier signal (relative positioning).
  • This positioning technique using GPS is widely used at present, because it can provide stable service through a fixed satellite with a wide signal radius.
  • it has a disadvantage that it can not be serviced in a room or a shaded area where accuracy is low and reception of GPS satellite signals is difficult I have.
  • the location measurement technology using mobile communication is a technology for obtaining geographical location information of a mobile terminal by triangulation using the currently established mobile communication system.
  • a terminal based method in which a terminal having a GPS receiver transmits position information to a network separately from a base station, and a hybrid method in which both are mixed.
  • These technologies do not require a separate infrastructure and are widely used as macro positioning technology because they have a wide service area like GPS. However, it can be used only in a cell radius within the cell radius where the base station is located or in a city center where radio waves can be received, and there is a problem that accuracy in the room is deteriorated due to diffraction, multipath, and signal attenuation due to propagation characteristics.
  • Such satellite communication or mobile communication location recognition technologies are suitable for outdoor use because of a wide service provision area, but they are restricted in indoor and shade areas. Recently, a positioning technique using various wireless communication technologies such as Diffuse-Infrared, Ultrasonic Wave, RF (Radio Frequency), UWB (Ultra Wideband), and radio wave identification has been actively studied.
  • various wireless communication technologies such as Diffuse-Infrared, Ultrasonic Wave, RF (Radio Frequency), UWB (Ultra Wideband), and radio wave identification has been actively studied.
  • Such a room location positioning technique can be applied to a virtual reality or augmented reality.
  • a virtual reality or augmented reality in an indoor space, when the object to be positioned moves, There is a problem that positioning can not be performed accurately.
  • Embodiments of the present invention provide a real-time indoor positioning system capable of real-time positioning of a moving object by using a static marker grid provided in a theme space and a camera provided in a moving object moving in the room, for example, Method and system therefor.
  • a real-time indoor positioning method is a static marker grid-based real-time indoor positioning method, comprising: real-time photographing of static markers provided in a theme space previously set using a camera provided on a moving object; Acquiring position information corresponding to each of the real-time captured static markers; And positioning the real-time position of the moving object based on the obtained positional information.
  • At least three static markers among the static markers configured in a grid structure on the theme space may be photographed in real time.
  • each of the static markers includes a marker pattern corresponding to positional information in the theme space
  • the step of acquiring positional information includes identifying a marker pattern of each of the real-time captured static markers, Corresponding position information can be obtained.
  • the step of positioning the real-time position may position the real-time position of the moving object based on the angle of the camera and the obtained positional information.
  • the real-time indoor positioning method further includes estimating an angle of the camera based on the real-time photographed static markers, and the step of positioning the real- The real-time position of the moving object can be determined based on the angle of the camera and the obtained positional information.
  • the real-time indoor positioning method may further include generating fingerprint maps by measuring coordinate information of each of the static markers provided in the theme space,
  • the acquiring step may acquire position information corresponding to each of the real-time photographed static markers using the generated fingerprint map and real-time image processing of the real-time photographed static markers.
  • a real-time indoor positioning system is a real-time indoor positioning system based on a static marker grid.
  • the real-time indoor positioning system includes a photographing unit for photographing static markers provided in a preset theme space using a camera, ; An acquiring unit acquiring position information corresponding to each of the real-time photographed static markers; And a positioning unit for positioning a real time position of the moving object based on the obtained position information.
  • the photographing unit can photograph at least three static markers among the static markers configured in a grid structure on the top of the theme space in real time.
  • each of the static markers includes a marker pattern corresponding to positional information in the theme space
  • the obtaining unit identifies a marker pattern of each of the real-time captured static markers, and obtains positional information corresponding to the identified marker pattern Can be obtained.
  • the positioning unit may determine a real time position of the moving object based on the angle of the camera and the obtained position information.
  • the real-time indoor positioning system may further include an estimation unit that estimates an angle of the camera based on the real-time captured static markers, And the real-time position of the moving object can be determined based on the obtained positional information.
  • the real-time indoor positioning system may further include a generation unit for generating a fingerprint map by measuring coordinate information for each of the static markers provided in the theme space, The position information corresponding to each of the real-time photographed static markers can be obtained using the generated fingerprint map and the real-time image processing of the real-time photographed static markers.
  • a static marker grid provided in a theme space (or an indoor space) and a camera provided on a moving object (or an object moving in the room), for example, Can be performed in real time.
  • the positioning speed is fast and the production cost of the positioning system is reduced .
  • a bumper car service or the like that can be provided in an indoor space, for example, a theme space, using a real-time indoor positioning technology according to an embodiment of the present invention.
  • the speed or direction of the moving object is controlled according to the enhancing element, for example, By providing an additional reinforcement effect, it may provide more fun according to the reinforcement element.
  • FIG. 1 shows a configuration of an embodiment of a system for explaining a real-time indoor positioning technique used in the present invention.
  • FIG. 2 is a flowchart illustrating an operation of a real-time indoor positioning method according to an embodiment of the present invention.
  • FIG. 3 shows an example of a static marker used in the present invention.
  • FIG. 4 illustrates an example of a method for performing real-time positional positioning of a moving object using the static marker shown in FIG.
  • FIG. 5 illustrates a configuration of a real-time indoor positioning system according to an embodiment of the present invention.
  • Embodiments of the present invention provide a real-time positioning of a moving object using a camera provided in a static marker grid provided in a theme space (or an indoor space) and a moving object moving in the room, for example, an infrared camera, And to provide a technique capable of improving positioning accuracy.
  • the static marker grid includes static markers in the form of a grid on the ceiling of the theme space, each of the static markers includes a different marker pattern, and each of the static markers includes coordinate information Can be measured in advance and stored as a fingerprint map.
  • the coordinate information for each of the static markers provided in the theme space is measured in advance, and the fingerprint map is generated by mapping the measured coordinate information and the index of each of the static markers, Coordinate information on each of the static markers taken by the infrared camera provided on the moving object can be obtained using the map and the position of the moving object can be positioned in real time based on the obtained coordinate information.
  • the final fingerprint map for the theme space may be generated after performing the correction of the coordinate information, and correction of the fingerprint map is described in the art It will be understood by those skilled in the art that a detailed description thereof will not be given.
  • the embodiments of the present invention can estimate the angle of the camera provided on the moving object and position the moving object in real time by reflecting the estimated angle of the camera.
  • the angle of the camera is out of the preset angle Information or notifications may be provided to the operator or administrator.
  • the present invention can estimate the angle of the camera based on the static markers photographed by the camera when the angle of the camera is changed by an external environment or a physical impact in a state where the angle of the camera is set to a predetermined angle, for example,
  • the location information of the moving object in the theme space can be positioned in real time by correcting the position information by the angle of the camera based on the information of the estimated angle of the camera and the height of the theme space.
  • the present invention provides an incremental element in a theme space according to a situation, and provides an enhancing effect according to the enhancing element by comparing the position of the enhancing element and the position of the moving object, Additional fun may be added.
  • the real-time indoor positioning technology according to the present invention can be applied to a bumper car game theme park. That is, the real-time indoor positioning technology of the present invention can be used to confirm the position of the bumper car in the theme space in real time, and the position information of each of the bumper cars confirmed through the real-time positioning,
  • the bumper car service can be provided to the users based on the augmenting factor provided in advance in the theme space.
  • the bumper car service is provided with a track through which the bumper car can move in the theme space, it is determined whether the position of the bumper car on the track coincides with the coordinate position of the reinforcement element. If they match, Such as a situation in which the bumper cars are too crowded, can be provided by remotely controlling the control corresponding to the enhancing elements such as the downhill, cliff, cliff, It is possible to provide a change in the movement route to at least one or more of the bumper cars.
  • FIG. 1 shows a configuration of an embodiment of a system for explaining a real-time indoor positioning technique used in the present invention.
  • the real-time indoor positioning system may include a moving object 110 moving in a certain space (or a positioning space or a theme space), for example, an indoor space, for example, System, such a real-time indoor positioning system can be provided on a moving object.
  • a separate server is provided to provide a server with a real-time location of each moving object measured in a moving object through a wireless communication between the real-time indoor positioning system provided in the moving object and the server, And the moving path of each moving object, etc., may be tracked by the server.
  • the real-time indoor positioning system may include static markers, that is, a marker grid formed on a ceiling or on the ceiling of a theme space using a camera provided in a moving object, And obtains coordinate information or positional information corresponding to each of marker grids, for example, at least three marker grids, which are photographed by a camera, using a previously generated fingerprint map, The real time position of the moving object is determined.
  • each of the static markers constituting the marker grid includes different marker patterns
  • the fingerprint map is generated by previously measuring and mapping position information (or coordinate information) with respect to the marker index for the marker pattern
  • the fingerprint map may be stored in the real-time indoor positioning system or may be stored in a separate server and received through wireless communication with the server.
  • the real-time indoor positioning system estimates the photographing angle of the camera provided on the moving object and can track or position the indoor position of the moving object in real time reflecting the estimated photographing angle.
  • the photographing angle of the camera may be sensed by an angle sensor provided in the camera, or may be estimated using static markers included in an image photographed by the camera.
  • the photographing angle of the camera can be estimated using a shape change of a static marker photographed by a camera or a grid shape change.
  • the method of estimating the camera angle is not limited to the above-described method, and it is apparent to those skilled in the art that all methods for estimating the camera angle can be applied.
  • the real-time indoor positioning system provided in the moving object provides the server with the identification information about the moving object and the position information positioned in real time through the wireless communication with the server, thereby providing the enhancing element to the theme space
  • the server may store user information using the service in the theme space, store information about the goods or points obtained through preemption of the provided enhancing element, store various information such as the visitor's visit history have.
  • a lot of information such as information on the enhancing element associated with the present invention, a fingerprint map, identification information on each moving object, and the like may be stored and provided.
  • the infrared camera provided in the moving object may be an infrared camera of about 60 frames per second, and the specification of the infrared camera provided in the moving object may be determined by the moving speed of the moving object.
  • the moving speed of the bumper car is about 10 km / h. Therefore, static markers can be photographed using an infrared camera of about 60 frames per second.
  • Such an infrared camera is more expensive than an infrared camera having a high frame rate The cost of constructing the real-time indoor positioning system of the present invention can be reduced.
  • the real-time indoor positioning technique according to the present invention locates the two-dimensional position because the moving object moves in a plane, the calculation complexity can be reduced and the positional positioning accuracy can be improved.
  • FIG. 2 is a flowchart illustrating an operation of a real-time indoor positioning method according to an embodiment of the present invention.
  • FIG. 2 is a flowchart illustrating an operation of the real-time indoor positioning system shown in FIG.
  • the real-time indoor positioning method measures marker indices of static markers constituted by a grid structure and coordinates information of positions of static markers on a predetermined theme space
  • the fingerprint map for the theme space is generated by mapping the marker index and coordinate information (or position information) of each of the static markers (S210).
  • the generated fingerprint map may be stored in a real-time indoor positioning system provided in a moving object, or may be stored in a separately provided server or a service system provided in the theme space.
  • the method of generating the fingerprint map in step S210 is not limited to the above-described method, and can be generated by various methods capable of generating the fingerprint map for the theme space.
  • step S210 In the state where the fingerprint map for the theme space is stored in step S210, static markers configured in a grid structure on the upper part of the theme space in a camera provided for each moving object, for example, an infrared camera are shot in real time, (Or coordinate information) corresponding to the marker index is obtained (S220, S230) by identifying the marker index for each of the static markers included in the image through the image processing.
  • the marker index is identified through the marker pattern of each of the photographed static markers, that is, the marker index (2, 1) 4, 1) and acquires position information of the marker index (2, 1) and the marker index (4, 1) using the fingerprint map.
  • the present invention preferably photographs at least three static markers by the camera. This is because three or more pieces of positional information are required to locate the position of the moving object in real time using the position information of the static markers, and this fact is obvious to those skilled in the art, so a detailed description thereof will be omitted do.
  • the image taken by the infrared camera of the present invention can be taken as an infrared image as shown in FIG. 4.
  • the infrared image thus taken is converted into a color image according to the situation,
  • the marker index of each of the markers can be identified, and positional information on the thus identified marker index can be obtained from the fingerprint map.
  • the identification of the marker index for the static markers by image processing is not necessarily performed by the image transformation, and various methods for identifying the marker index, for example, Noise filtering may be performed to remove the noise that may be generated and the marker index for the static markers may be identified through the image processing obtained after performing the noise filtering. To identify marker indices for static markers.
  • step S230 When the positional information on each of the static markers photographed by the camera is obtained through step S230, the angle of the camera is estimated based on the image of the static markers photographed in real time (S240).
  • the method of estimating the angle of the camera in step S240 is not limited to estimating using the static markers included in the photographed image, and when the angle sensor is provided in the camera, Information can be provided.
  • all the methods for estimating the camera angle can be applied to the present invention, and the estimated camera angle is used for real time positioning of the moving object.
  • step S240 If the angle of the camera is estimated in step S240, the real-time position of the moving object is determined based on the estimated angle of the camera and the position information of each of the static markers obtained in step S230 (S250).
  • step S250 the position of the moving object can be positioned in real time using the estimated angle of the camera, the height from the camera in the theme space to the position where the static markers are located, and the position information of each of the captured static markers.
  • the direction and height of the camera provided on the moving object are fixed, the height from the camera to the upper portion of the theme space, that is, the ceiling is set in advance.
  • the position of the moving object can be positioned in real time, the moving direction and the moving path of the moving object can be tracked, and tracking on the moving path is possible. Therefore, And it is possible to additionally provide reinforcement services to the bumper car service provided in the theme space.
  • a preset enhancing element is provided in the theme space and the coordinate position of the enhancing element coincides with the position of the moving object through real-time position locating, at least one of the speed and direction of the moving object is automatically Or an additional reinforcement effect, for example, when the cliff and the moving object coincide with each other, the bumper car may fall off the cliff or the bumper car may feel as if it is flying.
  • the moving track when providing a moving track on which a moving object is moving, the moving track may be changed in real time considering the moving path of each moving object through real-time location positioning. For example, if it is determined that the moving objects are too crowded due to the real-time positioning of the moving objects and that the moving objects are complicated to move on the provided track, As shown in FIG. It is needless to say that the provision and control of such a moving track should be realized in real time by real-time position information positioned for each moving object to the system server providing the corresponding service, and based on the real- Service can be provided.
  • the position of a moving object can be positioned in real time through image capturing and image processing of static markers using a single camera provided on the moving object
  • the computation speed of the real-time position locating is fast, the algorithm complexity can be reduced, and the production cost of the system can be reduced.
  • a backlight problem may occur due to a projection that provides an enhancing element.
  • the position information by the photographing is tracked in real time, the backlight problem generated in the middle can be solved and noise may be generated in the image captured by the vibration due to the movement of the moving object.
  • ≪ / RTI &gt That is, since the technology according to the present invention can perform two-dimensional real-time positional positioning using static markers composed of a grid structure above the camera and the theme space, the positioning accuracy can be improved.
  • the size and arrangement of the static markers of the marker grid formed above the theme space can be determined in consideration of the height of the theme space, the moving speed of the moving object, the performance of the camera, and the like.
  • the present invention may provide a virtual image in a theme space according to a situation.
  • a map of coordinate information of a virtual image for example, a virtual image provided to provide a bumper car service, And may be provided in advance in a server of the providing system.
  • a table for coordinate information about the indoor space, an image map for virtual images, A server or a database for storing information on user registration using a bumper car service, user history, and the like may be required, and a separate input / output interface or device for data input / output may be additionally provided as needed.
  • the present invention may include a database in a real-time indoor positioning system provided in a moving object or a separate database server.
  • a database is provided in the indoor location positioning system, all information related to the present invention such as a fingerprint map and an algorithm for a real-time indoor location positioning method can be stored in a database and stored in the database.
  • the database server may be a server for storing all data related to various services provided in the theme space, for example, all information related to a game or service provided through the theme space, All the information related to the real-time indoor positioning can be stored in a database.
  • the database server may store information related to a user using various services provided in the theme space, service information provided by the service, enhancement factor information related to the provided service, and the like.
  • the database server is not limited to the above-described data.
  • the stored user information includes user information (for example, name, sex, age, key, weight, style, etc.) registered by the user using the service, Character, service utilization history, compensation information (for example, adding time, providing bonus license, providing coupon, etc.).
  • user information for example, name, sex, age, key, weight, style, etc.
  • compensation information for example, adding time, providing bonus license, providing coupon, etc.
  • the system for providing the service using the method according to the present invention may provide a service item for revisiting the user who uses the service, and may check the moving object such as the battery status of the bumper car by the management server (LED display) function using visitors' names or nicknames, automatic ordering method of visitor waiting sequence (automatic visitor allocation and circulation application), utilizing real-time positioning technology and image processing technology Content provision, and the like.
  • the management server LED display
  • automatic ordering method of visitor waiting sequence automated visitor allocation and circulation application
  • real-time positioning technology and image processing technology Content provision and the like.
  • the service system provided using the real-time indoor location positioning technology includes a real-time board for guaranteeing real-time data, a calculation board for real-time (several tens ms) Algorithm for correcting the integrity and discrimination of data between two systems, a location tracking algorithm for moving distance and prediction of objects, a virtual reality (VR) provided through a theme space, augmented reality (AR) Augmented Reality), and computational techniques for calculating and correcting actual sizes to be applied to mixed reality (MR), and the like.
  • a real-time board for guaranteeing real-time data
  • a location tracking algorithm for moving distance and prediction of objects
  • VR virtual reality
  • AR Augmented Reality
  • computational techniques for calculating and correcting actual sizes to be applied to mixed reality (MR), and the like.
  • the moving object moved by the user in the theme space can be controlled by the moving object control through the system through communication with a system capable of remotely controlling the moving object, speed control of the moving object according to user input (for example, PWM Control, start, stop), interworking with service, and sensor-based coordinate interlocking technology.
  • the moving object for example, the bumper car includes constituent means basically configured in the bumper car, for example, a user input / output means, a bumper car control means, and the like.
  • the bumper car may be controlled by a control signal transmitted to the system through association with the system.
  • the system can control the speed of the bumper car to be slow by transmitting a control signal to slow the speed to the bumper car, ,
  • the system may control the speed of the bumper car by sending a control signal that speeds up the speed to the bumper car.
  • the technology according to the present invention may provide an extended service based on an augmented reality (AR) and mixed reality (MR).
  • AR augmented reality
  • MR mixed reality
  • the AR and MR contents require a sensor capable of measuring the camera orientation and position in real time, for example, a marker, an infrared ray, and a motion tracking.
  • the present invention is applicable to a real bumper car
  • the viewer of the audience can provide the MR game service using the mobile device. For example, by using the location information obtained by the present invention in a racing game in which a spectator can adjust a virtual bumper car, a real bumper car is introduced to the mobile game in real time, thereby allowing the audience and the bumper car driver to enjoy racing together MR game service can be provided.
  • the audience can actively interact with the real bumper car driver out of the passive sightseeing, so that it is possible to provide the paid gaming service to the audience free from the business viewpoint, Not only the virtual driver of the bumper car, but also the supporter role (healer) and the obstructor role (game obstacle, monster, monster boss) Game service.
  • a plurality of drivers and a plurality of viewers can directly control various elements included in one racing game to allow a game to be operated.
  • FIG. 5 shows a configuration of a real-time indoor positioning system according to an embodiment of the present invention, and shows a configuration of a system for performing the methods of FIGS. 1 to 4 described above.
  • a real-time indoor positioning system 500 includes a generating unit 510, a photographing unit 520, an obtaining unit 530, an estimating unit 540, a positioning unit 550 And a database (DB) 560.
  • the database 560 stores the fingerprint map for the static markers formed in the grid structure on the top of the theme space, the real-time indoor location positioning algorithm related to the present invention, and related data in a database.
  • the database 560 may be provided in a real-time indoor positioning apparatus or system provided in a moving object, or may be provided in a separate database server.
  • the generator 510 measures the marker index of the static markers constituted by the grid structure and the coordinate information of the position of each of the static markers on the predetermined theme space and stores the marker index of each of the static markers and the coordinate information Information) to generate a fingerprint map for the theme space.
  • the photographing unit 520 photographs static markers constructed in a grid structure on the theme space in real time using a camera, for example, an infrared camera.
  • the acquiring unit 530 acquires position information (or coordinate information) corresponding to the marker index by identifying a marker index for each of the static markers included in the image through image processing on the photographed image.
  • the estimator 540 estimates the angle of the camera that photographs the static markers in real time.
  • the estimator may estimate the angle of the camera based on the image of the static markers photographed in real time.
  • the estimation unit 540 can estimate the angle of the camera through sensing using the angle sensor.
  • the positioning unit 550 positions the position of the moving object in real time based on the positional information corresponding to the marker index acquired by the acquiring unit 530.
  • the positioning unit 550 can additionally reflect the estimated angle of the camera, thereby positioning the position of the moving object in real time.
  • the system or apparatus described above may be implemented as a hardware component, a software component, and / or a combination of hardware components and software components.
  • the systems, devices, and components described in the embodiments may be implemented in various forms such as, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable array ), A programmable logic unit (PLU), a microprocessor, or any other device capable of executing and responding to instructions.
  • the processing device may execute an operating system (OS) and one or more software applications running on the operating system.
  • the processing device may also access, store, manipulate, process, and generate data in response to execution of the software.
  • OS operating system
  • the processing device may also access, store, manipulate, process, and generate data in response to execution of the software.
  • the processing apparatus may be described as being used singly, but those skilled in the art will recognize that the processing apparatus may have a plurality of processing elements and / As shown in FIG.
  • the processing unit may comprise a plurality of processors or one processor and one controller.
  • Other processing configurations are also possible, such as a parallel processor.
  • the software may include a computer program, code, instructions, or a combination of one or more of the foregoing, and may be configured to configure the processing device to operate as desired or to process it collectively or collectively Device can be commanded.
  • the software and / or data may be in the form of any type of machine, component, physical device, virtual equipment, computer storage media, or device , Or may be permanently or temporarily embodied in a transmitted signal wave.
  • the software may be distributed over a networked computer system and stored or executed in a distributed manner.
  • the software and data may be stored on one or more computer readable recording media.
  • the method according to embodiments may be implemented in the form of a program instruction that may be executed through various computer means and recorded in a computer-readable medium.
  • the computer-readable medium may include program instructions, data files, data structures, and the like, alone or in combination.
  • the program instructions to be recorded on the medium may be those specially designed and configured for the embodiments or may be available to those skilled in the art of computer software.
  • Examples of computer-readable media include magnetic media such as hard disks, floppy disks and magnetic tape; optical media such as CD-ROMs and DVDs; magnetic media such as floppy disks; Magneto-optical media, and hardware devices specifically configured to store and execute program instructions such as ROM, RAM, flash memory, and the like.
  • program instructions include machine language code such as those produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like.
  • the hardware devices described above may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

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